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działa w uj

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:) udało się za próbą 26.
This commit is contained in:
filipgrabowiecki
2024-04-16 19:11:15 +02:00
committed by GitHub
parent 652e50d274
commit 5fd80aa65d
1 changed files with 19 additions and 27 deletions
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34
main.py
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@@ -7,8 +7,6 @@ import cv2
from pyzbar.pyzbar import decode from pyzbar.pyzbar import decode
import numpy as np import numpy as np
global czy_hubert_to_debil
czy_hubert_to_debil = True
class TelloDrone(): class TelloDrone():
drone = Tello() drone = Tello()
start = time.time() start = time.time()
@@ -53,6 +51,7 @@ class TelloDrone():
while not self.has_landed: while not self.has_landed:
if self.is_flying: if self.is_flying:
input() input()
self.rc_control(0, 0, 0, 0)
self.drone.emergency() self.drone.emergency()
def battery_temp_check(self): def battery_temp_check(self):
@@ -160,6 +159,7 @@ class TelloDrone():
self.drone.streamoff() self.drone.streamoff()
def follow_qr(self): def follow_qr(self):
while not self.has_landed: while not self.has_landed:
#print(self.barcode_rect) #print(self.barcode_rect)
if self.is_flying: if self.is_flying:
@@ -243,8 +243,6 @@ class TelloDrone():
def mission_func(self): def mission_func(self):
self.takeoff_func() self.takeoff_func()
# self.is_flying = True
# self.has_landed = False
print(f"IS FLYING: {self.is_flying} ") print(f"IS FLYING: {self.is_flying} ")
print(f"HAS LANDED: {self.has_landed} ") print(f"HAS LANDED: {self.has_landed} ")
time.sleep(5) time.sleep(5)
@@ -257,23 +255,22 @@ class TelloDrone():
else: else:
if self.roll_left == True:
self.rc_control(10, 0, 0, 0)
print("Turlaj sie w lewo")
elif self.roll_right == True:
self.rc_control(-10, 0, 0, 0)
print("Turlaj sie w prawo")
elif self.roll_ok == True:
print("Turlaj dropsa")
if self.drone_left == True: if self.drone_left == True:
self.rc_control(0,0,0,-10) self.rc_control(0, 0, 0, -10)
print("left") print("left")
elif self.drone_right == True: elif self.drone_right == True:
print("right") print("right")
self.rc_control(0,0,0,10) self.rc_control(0, 0, 0, 10)
elif self.drone_rotate_stop == True: elif self.drone_rotate_stop == True:
print("straight") print("straight")
if self.roll_left == True:
self.rc_control(-10, 0, 0, 0)
print("Turlaj sie w lewo")
elif self.roll_right == True:
self.rc_control(10, 0, 0, 0)
print("Turlaj sie w prawo")
elif self.roll_ok == True:
print("Turlaj dropsa")
if self.drone_up == True: if self.drone_up == True:
print("up") print("up")
self.rc_control(0,0,15,0) self.rc_control(0,0,15,0)
@@ -290,9 +287,6 @@ class TelloDrone():
else: else:
self.rc_control(0,20,0,0) self.rc_control(0,20,0,0)
time.sleep(0.2) time.sleep(0.2)
cnt += 1 cnt += 1
#print(cnt) #print(cnt)
@@ -300,8 +294,6 @@ class TelloDrone():
self.rc_control(0,0,0,0) self.rc_control(0,0,0,0)
time.sleep(5) time.sleep(5)
self.landing_func() self.landing_func()
# self.is_flying = False
# self.has_landed = True
print(f"IS FLYING: {self.is_flying} ") print(f"IS FLYING: {self.is_flying} ")
print(f"HAS LANDED: {self.has_landed} ") print(f"HAS LANDED: {self.has_landed} ")
self.drone.end() self.drone.end()
@@ -314,7 +306,7 @@ def main():
threading.Thread(target=drone.show_camera).start() threading.Thread(target=drone.show_camera).start()
# threading.Thread(target=drone.flight_data).start() # threading.Thread(target=drone.flight_data).start()
threading.Thread(target=drone.follow_qr).start() threading.Thread(target=drone.follow_qr).start()
#threading.Thread (target=drone.mission_func).start() threading.Thread (target=drone.mission_func).start()
print("\nBateria po misji: \n") print("\nBateria po misji: \n")
drone.battery_temp_check() drone.battery_temp_check()